Prince William and Kate landed in Warsaw on Monday along with their children Prince George and Princess Charlotte.

The Duke and Duchess of Cambridge will travel to Warsaw with Prince George and Princess Charlotte for the start of a five-day tour of Poland and Germany. Meanwhile, Princess Charlotte, who was held by Kate, looked far more relaxed, and reportedly "smiled in her mother's arms and waved to onlookers".

The duke and duchess then headed off to meet, sans children, with Polish President Andrzej Duda and the first lady at the presidential palace.

William and Kate will also meet survivors of the Holocaust and the brutal atrocity of Hitler's occupation.

Kate and William, both 35, were in high spirits as they stepped off the plane and greeted by a welcoming committee at Warsaw Chopin Airport amid light rain showers.

Later today, the Royal family is set to visit the Warsaw Rising Museum, as well as the Heart in the Warsaw Spire building where they will see the city's panoramic views.

The Duke and Duchess of Cambridge and their children arrived in Poland on Monday, on the first leg of a goodwill trip to two European Union nations that is meant to underscore Britain's friendly ties with a bloc that it's in the process of leaving.

Many are viewing the royal trip, taken at the request of the Foreign and Commonwealth Office, as another Brexit diplomacy tour, helping to maintain and strengthen the UK's relations with Europe as it leaves the EU.